Research Article Open Access

The Study of the Dynamics of a Cebâşev Manipulator

Relly Victoria Virgil Petrescu1
  • 1 Department of Transport Traffic and Logistics, Traffic and Logistics, Transport, TTR, Bucharest Polytechnic University, Bucharest 060042 (CE) Romania, Romania


The paper presents a new method for determining the dynamic parameters of a Cebâşev conveyor mechanism, solvable in two steps. In the first step, the classic method of preserving the kinetic energy of the entire mechanism is used to determine the rotating mass of the Cebâşev mechanism denoted by J*, this being the dynamic rotating mass of the entire mechanism reduced to the driving element 1 (of the crank type; classical rotating mass is called the mechanical or mass moment of inertia). In the second step (with the help of a new method), the dynamic angular speed of the Cebâşev mechanism's crank is directly determined, by using the mechanism's kinetic energy conservation a second time. This eliminates the need to use a more laborious classical method in the second step, such as differential Newton, Lagrange of type 1, Laplace transform, or Fourier, a finite difference method.

American Journal of Engineering and Applied Sciences
Volume 15 No. 4, 2022, 239-254


Submitted On: 28 October 2022 Published On: 28 November 2022

How to Cite: Petrescu, R. V. V. (2022). The Study of the Dynamics of a Cebâşev Manipulator. American Journal of Engineering and Applied Sciences, 15(4), 239-254.

  • 0 Citations



  • Dynamics
  • Cebâşev Mechanism
  • Dynamic Rotating Mass of the Entire Mechanism Reduced to the Driving Element
  • Kinetic Energy Conservation